本发明公开了混合交通场景下基于车路协同的车队一致性控制方法,网联智能汽车接收快速路上传统人驾车的状态信息;结合车辆的动力学特征以及混合交通场景下的通信拓扑结构,构建网联智能汽车的纵向控制策略和传统人驾车的轨迹预测模型;结合车队中车辆的一致性控制目标,构建混合车队误差动力学模型;获取保证系统稳定的最大时延条件和一致性约束条件;根据所述保证系统稳定的最大时延条件和一致性约束条件,调整所述网联智能汽车的纵向控制策略。本发明利用车路协同技术获得的传统人驾车的状态信息作为CAV的部分控制输入,设计纵向一致性控制方法,保证了混合车队的间距一致性和速度一致性;同时考虑了时变的通信时延,使得控制算法更符合实际,可以应用在未来自动驾驶汽车领域。
The invention discloses a motorcade consistency control method based on vehicle-road cooperation in a mixed traffic scene. The method comprises the steps: enabling a networked intelligent vehicle to receive state information of traditional person driving on an expressway; constructing a longitudinal control strategy of the networked intelligent vehicle and a traditional human driving track prediction model in combination with the dynamic characteristics of the vehicle and a communication topology structure in a mixed traffic scene; constructing a hybrid fleet error dynamic model by combining aconsistency control target of vehicles in the fleet; obtaining a maximum time delay condition and a consistency constraint condition for ensuring the stability of the system; and adjusting a longitudinal control strategy of the networked intelligent vehicle according to the maximum time delay condition and the consistency constraint condition for ensuring the stability of the system. According tothe invention, the traditional human driving state information obtained by the vehicle-road cooperation technology is used as part of control input of the CAV, and a longitudinal consistency controlmethod is designed, so that the spacing consistency and the speed consistency of the hybrid fleet are ensured; meanwhile, the time-varying communication delay is considered, so that the control algorithm is more practical and can be applied to the field of automatic driving automobiles in the future.
混合交通场景下基于车路协同的车队一致性控制方法
2022-04-08
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |